EP0180829A2 - Vertically operating machine tool with a manipulator - Google Patents

Vertically operating machine tool with a manipulator Download PDF

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Publication number
EP0180829A2
EP0180829A2 EP85113227A EP85113227A EP0180829A2 EP 0180829 A2 EP0180829 A2 EP 0180829A2 EP 85113227 A EP85113227 A EP 85113227A EP 85113227 A EP85113227 A EP 85113227A EP 0180829 A2 EP0180829 A2 EP 0180829A2
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EP
European Patent Office
Prior art keywords
wall
articulated arm
machine tool
articulated
tool according
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP85113227A
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German (de)
French (fr)
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EP0180829B1 (en
EP0180829A3 (en
Inventor
Frank Kieselbach
Frank Baumbusch
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Pittler Maschinenfabrik AG
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Pittler Maschinenfabrik AG
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Application filed by Pittler Maschinenfabrik AG filed Critical Pittler Maschinenfabrik AG
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J21/00—Chambers provided with manipulation devices

Definitions

  • the invention relates to vertically working machine tools with one or more tool slides guided on a wall and workpiece transport between at least two positions on one side of the wall by means of a handling device mounted on the other side of the wall through at least two wall openings.
  • the openings in the wall carrying the slide guide for the tool slide should be as small as possible in order to avoid the To maintain rigidity of the wall.
  • the invention is based, to simplify the known machine tools with workpiece transport device without disadvantageous consequences for the working speed and accuracy in their structure and operation and thereby to improve the functional reliability.
  • the handling device has a two-part articulated arm which can be rotated about a pivot axis, the articulated movement of which is derived from its rotational movement by positive guidance and whose articulated joint moves from one position to the other on the larger arc of the circle of its path.
  • the main advantage of the invention is that the control device of the handling device can be designed as a simple uniaxial control in spite of the difficulties described as a result of the necessary transport of the workpieces through the wall and in its longitudinal direction from one opening to the other. This eliminates the technical effort, the complication of the operation and the risk of malfunction for the second tax that was previously necessary for the same function bare axis.
  • the mechanical outlay for a gripper arm which has only two swivel joints is also less than in the handling devices previously used with two longitudinal guides.
  • the pivot bearing of the articulated arm is preferably arranged directly behind the wall in the area between two openings.
  • the rear part of the articulated arm moves out of one wall opening, in a large arc by more than 180 degrees to and into the other wall opening.
  • the side surfaces of the wall openings preferably extend at an angle to one another in accordance with the end positions of the articulated arm when reaching through the wall, so that the wall is only minimally weakened.
  • the front part of the articulated arm is preferably shorter than the rear one and, due to the positive guidance, rotates in the same direction about the axis of the articulated joint as the rear part of the articulated arm rotates about the pivot axis.
  • the rear part of the articulated arm has a length of approximately 100 cm and the front part has a length of approximately 60 cm.
  • the ratio between the rotary movement around the swivel axis and the rotary movement around the axis of the articulated joint is approximately 1: 1.
  • the workpiece When transporting the workpiece, the workpiece must first be moved from one position to another and then normally brought into contact with the work table or the work spindle by a relative vertical movement.
  • This vertical movement can be made possible in an expedient development of the invention in that the articulated arm as a whole or its outer part is axially movable.
  • a workpiece gripper rotatable about an axis lying perpendicular to the pivot axis is mounted on the outer end of the articulated arm.
  • the workpieces are turned by the gripper.
  • a device for turning the workpieces at a further position to be approached by the handling device is a workpiece in the latter case, which z. B.
  • the invention does not exclude that the handling device with its articulated arm can be moved overall along the back of the wall, in order, for. B. more than two working positions reach or z. B. Pick up or put down workpieces at the end of the wall. Further embodiments of the invention provide that two or more handling devices with an articulated arm are mounted on the same side of the wall and that two articulated arms reach the same working or intermediate storage position through at least one wall opening. Such an execution can z. B. then recommend if very short cycle times are desired for workpiece transport. In this connection, an embodiment of the device according to the invention could possibly also be used, in which two articulated arms are mounted on the same pivot axis.
  • a particularly simple embodiment of the positive guidance of the front part of the articulated arm relative to the rear part thereof is achieved in that a chain or a toothed belt connects a gearwheel which is held non-rotatably on the pivot axis and connects a gearwheel which is fixed on the front part of the articulated arm.
  • the vertically operating machine tool shown in FIG. 1 has two working positions, one of which is shown at 10. There, workpieces 12 are clamped for processing on a work table or a rotating spindle. The tools for machining the workpieces 12 are fastened to a tool slide 14 which can be moved along a horizontal slide guide 16 on a wall 18.
  • the latter has, in addition to the two working positions 10, an opening 20 and 22, respectively, so that a gripper, designated 24, of a handling device 26 can transport the workpieces 12 from the rear of the wall 18 through the wall to the working positions 10 and retrieve them from there. Feeding the workpieces 12 from the rear of the machine offers the advantage that the movement and working space of the tools and the operating personnel are not impaired by the workpiece transport.
  • the working area of the machine is shielded by a front protective wall 28.
  • the handling device 26 is mounted stationary exactly in the middle between the two wall openings 20 and 22. It consists of a housing 30 on the A top articulated arm 32 about a vertical axis of rotation 34 (see Fig. 2) is pivoted over an angular range of about 240 ° to 320 0 degrees.
  • the pivot bearing is indicated at 36.
  • the articulated arm 32 consists of a rear part 38 and a front part 40, both of which are connected to one another via an articulated joint indicated at 42, the axis of rotation designated 44 in FIG. 2 lying parallel to the pivot axis 34.
  • the gripper 24 is attached to the free end of the front part 40 of the articulated arm 32.
  • the grippers such. 1 directly on the front part 40 of the articulated arm or z. B. may be mounted according to FIG. 2 on a hand part 46, which in turn is connected to the front articulated arm part 40 via a joint 48.
  • the z. B. can be of the type shown in Fig. 2. It consists of two toothed wheels or toothed belt pulleys 50 and 52, which are connected to one another by a chain or toothed belt 54.
  • One gear wheel 50 is arranged on the pivot axis 34 and is held in a rotationally fixed manner relative to the housing 30 by a suitable holder 56.
  • the other gear 52 is arranged on the axis 44 of the articulated joint and is connected in a rotationally fixed manner to the front part 40 of the articulated arm 32 by a shaft 58.
  • FIG. 1 shows the arrangement and the size ratio of a practical embodiment in which the front articulated arm part 40 together with the gripper 24 is shorter than the rear articulated arm part 38.
  • This design of the articulated arm and the positive guide 50, 52, 54 described in connection with FIG. 2 result in the controlled pivoting movement of the rear articulated arm part 38 from the position shown in FIG.
  • the controlled pivoting movement leads the rear articulated arm part 38 into the wall opening 22, and at the same time the positive guide 50, 52, 54 also rotates the front articulated arm part 40 relative to the rear, so that in the other end position of the articulated arm it returns to one of the in Fig. 1 shown essentially parallel position comes in which the turned workpiece 12 in the working position, not shown, behind the wall break 22 is discontinued.
  • the entire articulated arm 32 is raised and lowered along the pivot axis 34 in the example.
  • the same swivel arm which transports the workpieces 12 from one working position 10 next to the wall opening 20 through the wall 18 to the other working position next to the wall opening 22, can also be used to remove the workpieces from a conveyor element, not shown, which they present or leads up behind the wall 18, to take it up and bring it into the first working position 10 and / or to take up the workpieces which have also been finished in the second working position there and to a further conveying member, e.g. B. a belt conveyor, because it can be cited with the gripper 24 any number of intermediate positions on both sides of the wall 18.
  • a conveyor element not shown, which they present or leads up behind the wall 18, to take it up and bring it into the first working position 10 and / or to take up the workpieces which have also been finished in the second working position there and to a further conveying member, e.g. B. a belt conveyor, because it can be cited with the gripper 24 any number of intermediate positions on both sides of the wall 18.
  • the rear articulated arm part 38 assumes an inclined position relative to the wall 18 in the two end positions, in which the gripper 24 is located in the two working positions 10.
  • the side walls of the wall openings 20 and 22 can also be designed obliquely in order to weaken the wall as little as possible.
  • FIG. 3 differs from that of FIG. 1 only in that on the back of the wall 18 two handling devices 62, 64 instead of the one handling device 26 ge are arranged according to Fig. 1. This can shorten the transport times.
  • Both handling devices 62 and 64 correspond in their structure and mode of operation to handling device 26. In the exemplary embodiment according to FIG. 3, they are connected to one another by a common housing 68 which can be moved along rails 66 along the rear of wall 18.
  • the turning device 60 is mounted on a special housing 70 in the embodiment according to FIG. 3.
  • the division of labor between the two handling devices 62 and 64 is carried out in such a way that the former receives the workpieces 12, if necessary, from a transport member which brings them to the first working position 10, brings them from there to the turning device 60 and from there to the second working position before the wall breakthrough 22 transported.
  • the other handling device 64 picks up the workpieces 12 at the second working position in front of the wall opening 22, fetches them through this to the rear of the wall 18 and removes them from one or more specific locations, possibly on a further transport element.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Multi-Process Working Machines And Systems (AREA)
  • Feeding Of Workpieces (AREA)

Abstract

The vertically operating machine tool has at least one tool slide (14) guided on a wall (18). The workpiece is transferred between at least two working positions (10) on one side of the wall (18) by means of a manipulator (26), mounted on the other side of the wall, through at least two wall apertures (20, 22). The manipulator (26) has a two- piece bending arm (32) which can be rotated about a pivoting axis (36) and whose bending movement is derived from its rotary movement by positive guidance. Uniaxial control for the manipulator is therefore sufficient despite the complicated transfer of the workpiece in both directions through the wall (18) and along the same. <IMAGE>

Description

Die Erfindung betrifft vertikal arbeitende Werkzeugmaschinen mit einem oder mehreren an einer Wand geführten Werkzeugschlitten und Werkstücktransport zwischen wenigstens zwei Positionen auf der einen Seite der Wand mittels eines auf der anderen Seite der Wand gelagerten Handhabungsgeräts durch wenigstens zwei Wanddurchbrüche hindurch.The invention relates to vertically working machine tools with one or more tool slides guided on a wall and workpiece transport between at least two positions on one side of the wall by means of a handling device mounted on the other side of the wall through at least two wall openings.

Es scheint zunächst das Einfachste zu sein, bei derartigen Werkzeugmaschinen automatisierte Einrichtungen für den Werkstücktransport, mit deren Hilfe Werkstücke z. B. auf einem Arbeitstisch oder einer Arbeitsspindel in Spannstellung positioniert, wieder abgenommen, gewendet und zu einer anderen Arbeits- oder Zwischenlagerposition transportiert werden, auf der Vorderseite der Maschine, d. h. vor der genannten Wand anzuordnen, wo sich auch die Spannpositionen und Werkzeuge befinden. Andererseits ist man bestrebt, die Vorderseite der Maschine als Bedienungsseite möglichst frei und gut zugänglich zu halten. Daher ist es schon bekannt, die Werkstücke durch Durchbrüche in der den oder die Werkzeugschlitten tragenden Wand hindurch, also von der Rückseite der Maschine aus, mittels Greifern an die Spannpositionen heranzuführen. Dabei ist zu beachten, daß die Durchbrüche in der die Schlittenführung für die Werkzeugschlitten tragenden Wand möglichst klein sein sollen, um die Steifigkeit der Wand zu erhalten. Man sieht daher bei mehreren Spann- und/oder Lagerpositionen auf der Vorderseite der Wand nicht eine große Öffnung, sondern mehrere kleine Durchbrüche vor, und die bisher eingesetzten Handhabungsgeräte mit einem in zwei Achsen in Längs- und Querrichtung zur Wand steuerbaren Greiferarm schienen der Bauform dieser Art von Werkzeugmaschinen am besten zu entsprechen.It seems to be the simplest at first, with such machine tools automated devices for workpiece transport, with the help of workpieces such. B. positioned on a work table or a work spindle in the clamping position, removed again, turned and transported to another working or intermediate storage position on the front of the machine, that is to say in front of said wall, where the clamping positions and tools are also located. On the other hand, efforts are made to keep the front of the machine as the operating side as free and easily accessible as possible. It is therefore already known to use grippers to bring the workpieces through openings in the wall carrying the tool carriage (s), that is to say from the rear, to the clamping positions. It should be noted that the openings in the wall carrying the slide guide for the tool slide should be as small as possible in order to avoid the To maintain rigidity of the wall. One therefore sees several clamping and / or storage positions on the front of the wall rather than a large opening, but several small openings, and the handling devices used to date with a gripper arm that can be controlled in two axes in the longitudinal and transverse directions of the wall seemed to be of this type Best match type of machine tools.

Der Erfindung liegt die Aufgabe zugrunde, die bekannten Werkzeugmaschinen mit Werkstück-Transporteinrichtung ohne nachteilige Folgen für die Arbeitsgeschwindigkeit und Genauigkeit in ihrem Aufbau und im Betrieb zu vereinfachen und dadurch auch die Funktionssicherheit zu verbessern.The invention is based, to simplify the known machine tools with workpiece transport device without disadvantageous consequences for the working speed and accuracy in their structure and operation and thereby to improve the functional reliability.

Vorstehende Aufgabe wird erfindungsgemäß dadurch gelöst, daß das Handhabungsgerät einen um eine Schwenkachse drehbaren zweiteiligen Knickarm aufweist, dessen Knickbewegung durch Zwangsführung von seiner Drehbewegung abgeleitet ist und dessen Knickgelenk sich beim Verfahren von einer zur anderen Position auf dem größeren Bogen des Kreises seiner Bahn bewegt.The above object is achieved according to the invention in that the handling device has a two-part articulated arm which can be rotated about a pivot axis, the articulated movement of which is derived from its rotational movement by positive guidance and whose articulated joint moves from one position to the other on the larger arc of the circle of its path.

Der wesentliche Vorteil der Erfindung besteht darin, daß die Steuervorrichtung des Handhabungsgeräts trotz der geschilderten Erschwernisse infolge des notwendigen Transports der Werkstücke durch die Wand hindurch und in deren Längsrichtung von dem einen zum anderen Durchbruch als einfache einachsige Steuerung ausgebildet werden kann. Damit entfallen der technische Aufwand, die Komplizierung der Bedienung und das Störungsrisiko für die bisher bei gleicher Funktion notwendige zweite steuerbare Achse. Außerdem ist auch der mechanische Aufwand für einen nur zwei Drehgelenke aufweisenden Greiferarm geringer als bei den bisher eingesetzten Handhabungsgeräten mit zwei Längsführungen.The main advantage of the invention is that the control device of the handling device can be designed as a simple uniaxial control in spite of the difficulties described as a result of the necessary transport of the workpieces through the wall and in its longitudinal direction from one opening to the other. This eliminates the technical effort, the complication of the operation and the risk of malfunction for the second tax that was previously necessary for the same function bare axis. In addition, the mechanical outlay for a gripper arm which has only two swivel joints is also less than in the handling devices previously used with two longitudinal guides.

Das Schwenklager des Knickarms wird vorzugsweise unmittelbar hinter der Wand im Bereich zwischen zwei Durchbrüchen angeordnet. Bei der Bewegung aus der einen in die andere Endstellung bewegt sich der hintere Teil des Knickarms aus dem einen Wanddurchbruch heraus, im großen Bogen um mehr als 180 Grad zum anderen Wanddurchbruch hin und in diesen hinein. Vorzugsweise erstrecken sich die Seitenflächen der Wanddurchbrüche entsprechend den Endstellungen des Knickarms beim Hindurchreichen durch die Wand im Winkel zueinander, so daß die Wand nur minimal geschwächt wird. Während der gesteuerten Schwenkbewegung des hinteren Teils des Knickarms wird jeweils dessen vorderer (äußerer) Teil durch die Zwangsführung um die Achse des Knickgelenks gedreht. Dazu bedarf es keiner weiteren Steuerung. Vorzugsweise ist der vordere Teil des Knickarms kürzer als der hintere und dreht sich infolge der Zwangsführung in derselben Richtung um die Achse des Knickgelenks wie sich der hintere Teil des Knickarms um die Schwenkachse dreht. In einer praktischen Ausführung hat bei einem Zwischenabstand von etwa 130 cm der beiden anzufahrenden Spannpositionen auf der Vorderseite der Wand der hintere Teil des Knickarms eine Länge von etwa 100 cm und der vordere Teil eine Länge von etwa 60 cm. Die Übersetzung zwischen der Drehbewegung um die Schwenkachse und der Drehbewegung um die Achse des Knickgelenks beträgt etwa 1:1.The pivot bearing of the articulated arm is preferably arranged directly behind the wall in the area between two openings. When moving from one end position to the other, the rear part of the articulated arm moves out of one wall opening, in a large arc by more than 180 degrees to and into the other wall opening. The side surfaces of the wall openings preferably extend at an angle to one another in accordance with the end positions of the articulated arm when reaching through the wall, so that the wall is only minimally weakened. During the controlled pivoting movement of the rear part of the articulated arm, its front (outer) part is rotated about the axis of the articulated joint by the positive guidance. No further control is required for this. The front part of the articulated arm is preferably shorter than the rear one and, due to the positive guidance, rotates in the same direction about the axis of the articulated joint as the rear part of the articulated arm rotates about the pivot axis. In a practical embodiment, with an intermediate distance of approximately 130 cm between the two clamping positions to be approached on the front of the wall, the rear part of the articulated arm has a length of approximately 100 cm and the front part has a length of approximately 60 cm. The ratio between the rotary movement around the swivel axis and the rotary movement around the axis of the articulated joint is approximately 1: 1.

Beim Werkstücktransport muß das Werkstück zunächst von einer Position zur anderen gebracht und dann normalerweise durch eine relative Vertikalbewegung zum Arbeitstisch oder der Arbeitsspindel daran zur Anlage gebracht werden. Diese Vertikalbewegung kann in zweckmäßiger Weiterbildung der Erfindung dadurch ermöglicht werden, daß der Knickarm insgesamt oder sein äußerer Teil axial bewegbar ist.When transporting the workpiece, the workpiece must first be moved from one position to another and then normally brought into contact with the work table or the work spindle by a relative vertical movement. This vertical movement can be made possible in an expedient development of the invention in that the articulated arm as a whole or its outer part is axially movable.

Oft müssen Werkstücke auf dem Weg von der einen zur anderen Spann- und Bearbeitungsposition gewendet werden, z. B., um sie auf beiden Seiten zu bearbeiten. Zu diesem Zweck kann erfindungsgemäß vorgesehen sein, daß am äußeren Ende des Knickarms ein um eine senkrecht zur Schwenkachse liegende Achse drehbarer Werkstück-Greifer gelagert ist. In diesem Fall werden die Werkstücke durch den Greifer gewendet. Daneben besteht alternativ die Möglichkeit, daß sich auf derjenigen Seite der Wand, auf welcher der Knickarm gelagert ist, an einer weiteren vom Handhabungsgerät anzufahrenden Position eine Einrichtung zum Wenden der Werkstücke befindet. Der Greifer des Handhabungsgeräts nimmt im letzteren Fall ein Werkstück, welches z. B. in der einen Arbeitsposition auf einer Seite fertig bearbeitet worden ist, dort auf, zieht es durch den einen Wanddurchbruch zur Rückseite der Wand zurück, übergibt es der Wendeeinrichtung, nimmt es nach dem Wenden von dieser wieder auf und transportiert es durch den anderen Wanddurchbruch zu der anderen Arbeitsposition, wo es dann auf der zweiten Seite bearbeitet wird.Often workpieces must be turned on the way from one to the other clamping and machining position, e.g. B. to edit them on both sides. For this purpose it can be provided according to the invention that a workpiece gripper rotatable about an axis lying perpendicular to the pivot axis is mounted on the outer end of the articulated arm. In this case, the workpieces are turned by the gripper. In addition, there is alternatively the possibility that on that side of the wall on which the articulated arm is mounted there is a device for turning the workpieces at a further position to be approached by the handling device. The gripper of the handling device takes a workpiece in the latter case, which z. B. has been finished in one working position on one side, there, pulls it back through the wall opening to the back of the wall, passes it to the turning device, takes it up again after turning and transports it through the other wall opening to the other working position, where it is then processed on the second page.

Die Erfindung schließt nicht aus, daß das Handhabungsgerät mit seinem Knickarm insgesamt längs der Rückseite der Wand verfahrbar ist, um z. B. mehr als zwei Arbeitspositionen zu erreichen oder um z. B. Werkstücke am Ende der Wand aufzunehmen oder abzulegen. Weitere Ausgestaltungen der Erfindung sehen vor, daß auf derselben Seite der Wand zwei oder mehr Handhabungsgeräte mit Knickarm gelagert sind und durch wenigstens einen Wanddurchbruch zwei Knickarme an dieselbe Arbeits- oder Zwischenlagerposition heranreichen. Eine solche Ausführung kann sich z. B. dann empfehlen, wenn sehr kurze Zykluszeiten für den Werkstücktransport angestrebt werden. In disem Zusammenhang könnte gegebenenfalls auch eine Ausführung der erfindungsgemäßen Vorrichtung zur Anwendung kommen, bei welcher auf derselben Schwenkachse zwei Knickarme gelagert sind.The invention does not exclude that the handling device with its articulated arm can be moved overall along the back of the wall, in order, for. B. more than two working positions reach or z. B. Pick up or put down workpieces at the end of the wall. Further embodiments of the invention provide that two or more handling devices with an articulated arm are mounted on the same side of the wall and that two articulated arms reach the same working or intermediate storage position through at least one wall opening. Such an execution can z. B. then recommend if very short cycle times are desired for workpiece transport. In this connection, an embodiment of the device according to the invention could possibly also be used, in which two articulated arms are mounted on the same pivot axis.

Eine besonders einfache Ausgestaltung der Zwangsführung des vorderen Teils des Knickarms relativ zu dessen hinteren Teil wird dadurch erreicht, daß eine Kette oder ein Zahnriemen ein undrehbar auf der Schwenkachse festgehaltenes und ein drehfest an dem vorderen Teil des Knickarms angeordnetes Zahnrad verbindet.A particularly simple embodiment of the positive guidance of the front part of the articulated arm relative to the rear part thereof is achieved in that a chain or a toothed belt connects a gearwheel which is held non-rotatably on the pivot axis and connects a gearwheel which is fixed on the front part of the articulated arm.

Die Erfindung wird nachstehend anhand der in der Zeichnung gezeigten Ausführungsbeispiele näher erläutert. Es zeigen:

  • Fig. 1 eine perspektivische Ansicht von hinten einer teilweise aufgebrochen gezeigten Werkzeugmaschine mit Handhabungsgerät gemäß der Erfindung;
  • Fig. 2 einen schematischen Längsschnitt durch die Lager des Knickarms des in Fig. 1 gezeigten Handhabungsgeräts zur Veranschaulichung der Zwangsführung des vorderen Teils des Knickarms;
  • Fig. 3 eine Ausführung der erfindungsgemäßen Werkzeugmaschine mit zwei Handhabungsgeräten.
The invention is explained in more detail below with reference to the exemplary embodiments shown in the drawing. Show it:
  • Figure 1 is a rear perspective view of a machine tool with a handling device according to the invention, partially broken away;
  • FIG. 2 shows a schematic longitudinal section through the bearings of the articulated arm of the handling device shown in FIG. 1 to illustrate the forced guidance of the front part of the articulated arm;
  • Fig. 3 shows an embodiment of the machine tool according to the invention with two handling devices.

Die in Fig. 1 gezeigte vertikal arbeitende Werkzeugmaschine hat zwei Arbeitspositionen, von denen eine bei 10 gezeigt ist. Dort werden Werkstücke 12 zur Bearbeitung auf einem Arbeitstisch oder einer Drehspindel festgespannt. Die Werkzeuge zur Bearbeitung der Werkstücke 12 sind an einem Werkzeugschlitten 14 befestigt, der längs einer horizontalen Schlittenführung 16 an einer Wand 18 verfahrbar ist. Letztere hat neben den beiden Arbeitspositionen 10 jeweils einen Durchbruch 20 bzw. 22, damit ein mit 24 bezeichneter Greifer eines Handhabungsgeräts 26 die Werkstücke 12 von der Rückseite der Wand 18 aus durch die Wand hindurch zu den Arbeitspositionen 10 transportieren und von dort wieder zurückholen kann. Die Zuführung der Werkstücke 12 von der Rückseite der Maschine aus bietet den Vorteil, daß der Bewegungs- und Arbeitsraum der Werkzeuge und des Bedienungspersonals nicht durch den Werkstücktransport beeinträchtigt werden. Im Beispielsfall ist der Arbeitsraum der Maschine durch eine vordere Schutzwand 28 abgeschirmt.The vertically operating machine tool shown in FIG. 1 has two working positions, one of which is shown at 10. There, workpieces 12 are clamped for processing on a work table or a rotating spindle. The tools for machining the workpieces 12 are fastened to a tool slide 14 which can be moved along a horizontal slide guide 16 on a wall 18. The latter has, in addition to the two working positions 10, an opening 20 and 22, respectively, so that a gripper, designated 24, of a handling device 26 can transport the workpieces 12 from the rear of the wall 18 through the wall to the working positions 10 and retrieve them from there. Feeding the workpieces 12 from the rear of the machine offers the advantage that the movement and working space of the tools and the operating personnel are not impaired by the workpiece transport. In the example, the working area of the machine is shielded by a front protective wall 28.

Das Handhabungsgerät 26 ist bei der Ausführung nach Fig. 1 ortsfest genau in der Mitte zwischen den beiden Wanddurchbrüchen 20 und 22 gelagert. Es besteht aus einem Gehäuse 30, an dessen Oberseite ein Knickarm 32 um eine senkrechte Drehachse 34 (siehe Fig. 2) über einen Winkelbereich von etwa 240° bis 3200 Grad schwenkbar gelagert ist. In Fig. 1 ist das Schwenklager bei 36 angedeutet. Der Knickarm 32 besteht aus einem hinteren Teil 38 und einem vorderen Teil 40, die beide über ein bei 42 angedeutetes Knickgelenk, dessen in Fig. 2 mit 44 bezeichnete Drehachse parallel zur Schwenkachse 34 liegt, miteinander verbunden sind. Am freien Ende des vorderen Teils 40 des Knickarms 32 ist der Greifer 24 angebracht. Dabei können die Greiferzangen z. B. gemäß Fig. 1 unmittelbar am vorderen Teil 40 des Knickarms gelagert oder z. B. gemäß Fig. 2 an einem Handteil 46 gelagert sein, welches seinerseits über ein Gelenk 48 mit dem vorderen Knickarmteil 40 verbunden ist.In the embodiment according to FIG. 1, the handling device 26 is mounted stationary exactly in the middle between the two wall openings 20 and 22. It consists of a housing 30 on the A top articulated arm 32 about a vertical axis of rotation 34 (see Fig. 2) is pivoted over an angular range of about 240 ° to 320 0 degrees. In Fig. 1, the pivot bearing is indicated at 36. The articulated arm 32 consists of a rear part 38 and a front part 40, both of which are connected to one another via an articulated joint indicated at 42, the axis of rotation designated 44 in FIG. 2 lying parallel to the pivot axis 34. The gripper 24 is attached to the free end of the front part 40 of the articulated arm 32. The grippers such. 1 directly on the front part 40 of the articulated arm or z. B. may be mounted according to FIG. 2 on a hand part 46, which in turn is connected to the front articulated arm part 40 via a joint 48.

Nur die Bewegung des hinteren Knickarmteils 48 um die Schwenkachse 34 wird durch eine z. B. im Gehäuse 30 oder in einem neben der Werkzeugmaschine aufgestellten Gehäuse aufgenommene Steuervorrichtung gesteuert. Zwischen den beiden Teilen 38 und 40 des Knickarms 32 besteht eine Zwangsführung, die z. B. von der in Fig. 2 gezeigten Art sein kann. Sie besteht.aus zwei Zahnrädern oder Zahnriemenscheiben 50 und 52, die durch eine Kette oder einen Zahnriemen 54 miteinander verbunden sind. Das eine Zahnrad 50 ist auf der Schwenkachse 34 angeordnet und wird durch eine geeignete Halterung 56 relativ zum Gehäuse 30 drehfest gehalten. Das andere Zahnrad 52 ist auf der Achse 44 des Knickgelenks angeordnet und durch eine Welle 58 drehfest mit den vorderen Teil 40 des Knickarms 32 verbunden. Abweichend von Fig. 2, wo nur das Funktionsprinzip der Zwangsführung des vorderen Knickarmteils 40 dargestellt ist, zeigt Fig. 1 die Anordnung und das Größenverhältnis einer praktischen Ausführungsform, bei der der vordere Knickarmteil 40 samt Greifer 24 kürzer ist als der hintere Knickarmteil 38. Diese Ausbildung des Knickarms sowie die im Zusammenhang mit Fig. 2 beschriebene Zwangsführung 50, 52, 54 ergeben bei der gesteuerten Schwenkbewegung des hinteren Knickarmteils 38 aus der in Fig. 1 gezeigten Position entgegen dem Uhrzeigersinn von dem Wanddurchbruch 20 zum Wanddurchbruch 22 hin eine Zwischenstellung, bei welcher der hintere Knickarmteil 38 eine quer zur Wand 18 liegende Stellung einnimmt, während sich gleichzeitig auch der vordere Knickarmteil 40 quer zur Wand 18 erstreckt, so daß sich beide Knickarmteile in der Draufsicht decken und dabei das freie Ende des vorderen Knickarmteils 40 zur Schwenkachse 34 weist. Im Beispielsfall nach Fig. 1 befindet sich in dieser Zwischenstellung eine Wendeeinrichtung 60, auf welcher jeweils ein Werkstück 12 vom Greifer 34 abgesetzt werden kann, das dann nach dem Wenden, bei dem die Unterseite nach oben gedreht wird, vom Greifer 24 wieder aufgenommen wird. Danach führt die gesteuerte Schwenkbewegung den hinteren Knickarmteil 38 in den Wanddurchbruch 22 hinein, und gleichzeitig dreht die Zwangsführung 50, 52, 54 auch den vorderen Knickarmteil 40 relativ zum hinteren weiter, so daß er in der anderen Endstellung des Knickarms wieder in eine zu der in Fig. 1 gezeigten im wesentlichen parallele Lage kommt, in welcher das gewendete Werkstück 12 in der nicht gezeigten Arbeitsposition hinter dem Wanddurchbruch 22 abgesetzt wird. Um die Aufnahme- und Absetzbewegungen in den Arbeitspositionen 10 und in der Zwischenposition bei der Wendeeinrichtung 60 zu bewerkstelligen, wird im Beispielsfall der gesamte Knickarm 32 längs der Schwenkachse 34 angehoben und abgesenkt.Only the movement of the rear articulated arm part 48 about the pivot axis 34 is by a z. B. controlled in the housing 30 or in a housing placed next to the machine tool control device. Between the two parts 38 and 40 of the articulated arm 32 there is a positive guide, the z. B. can be of the type shown in Fig. 2. It consists of two toothed wheels or toothed belt pulleys 50 and 52, which are connected to one another by a chain or toothed belt 54. One gear wheel 50 is arranged on the pivot axis 34 and is held in a rotationally fixed manner relative to the housing 30 by a suitable holder 56. The other gear 52 is arranged on the axis 44 of the articulated joint and is connected in a rotationally fixed manner to the front part 40 of the articulated arm 32 by a shaft 58. Deviating 2, where only the functional principle of the forced guidance of the front articulated arm part 40 is shown, FIG. 1 shows the arrangement and the size ratio of a practical embodiment in which the front articulated arm part 40 together with the gripper 24 is shorter than the rear articulated arm part 38. This design of the articulated arm and the positive guide 50, 52, 54 described in connection with FIG. 2 result in the controlled pivoting movement of the rear articulated arm part 38 from the position shown in FIG. 1 counterclockwise from the wall opening 20 to the wall opening 22 towards an intermediate position, in which the rear articulated arm part 38 assumes a position lying transversely to the wall 18, while at the same time the front articulated arm part 40 extends transversely to the wall 18, so that both articulated arm parts overlap in plan view and the free end of the front articulated arm part 40 faces the pivot axis 34. In the example shown in FIG. 1, there is a turning device 60 in this intermediate position, on each of which a workpiece 12 can be placed by the gripper 34, which is then picked up again by the gripper 24 after turning, in which the underside is turned upwards. Thereafter, the controlled pivoting movement leads the rear articulated arm part 38 into the wall opening 22, and at the same time the positive guide 50, 52, 54 also rotates the front articulated arm part 40 relative to the rear, so that in the other end position of the articulated arm it returns to one of the in Fig. 1 shown essentially parallel position comes in which the turned workpiece 12 in the working position, not shown, behind the wall break 22 is discontinued. In order to accomplish the pick-up and set-down movements in the working positions 10 and in the intermediate position in the turning device 60, the entire articulated arm 32 is raised and lowered along the pivot axis 34 in the example.

Derselbe Schwenkarm, der die Werkstücke 12 aus der einen Arbeitsposition 10 neben des Wanddurchbruch 20 durch die Wand 18 hindurch zu der anderen Arbeitsposition neben dem Wanddurchbruch 22 transportiert, kann auch dazu benutzt werden, die Werkstücke von einem nic≈t gezeigten Förderorgan, welches sie vor oder hinter der Wand 18 heranführt, aufzunehmen und in die erste Arbeitsposition 10 zu bringen und/oder die auch in der zweiten Arbeitsposition fertig bearbeiteten Werkstücke dort aufzunehmen und an ein weiterführendes Förderorgan, z. B. einen Bandförderer, zu übergeben, denn es können mit dem Greifer 24 eine beliebige Vielzahl von Zwischenstellungen auf beiden Seiten der Wand 18 angefehren werden.The same swivel arm, which transports the workpieces 12 from one working position 10 next to the wall opening 20 through the wall 18 to the other working position next to the wall opening 22, can also be used to remove the workpieces from a conveyor element, not shown, which they present or leads up behind the wall 18, to take it up and bring it into the first working position 10 and / or to take up the workpieces which have also been finished in the second working position there and to a further conveying member, e.g. B. a belt conveyor, because it can be cited with the gripper 24 any number of intermediate positions on both sides of the wall 18.

Wie aus Fig. 1 ersichtlich, nimmt der hintere Knickarmteil 38 in den beiden Endstellungen, in welchen sich der Greifer 24 an den beiden Arbeitspositionen 10 befindet, relativ zur Wand 18 jeweils eine Schräglage ein. In Anpassung an diese Schräglagen des hinteren Knickarmteils 38 können die Seitenwände der Wanddurchbrüche 20 und 22 ebenfalls schräg ausgebildet sein, um die Wand so wenig wie möglich zu schwächen.As can be seen from FIG. 1, the rear articulated arm part 38 assumes an inclined position relative to the wall 18 in the two end positions, in which the gripper 24 is located in the two working positions 10. In adaptation to these inclined positions of the rear articulated arm part 38, the side walls of the wall openings 20 and 22 can also be designed obliquely in order to weaken the wall as little as possible.

Die Ausführung nach Fig. 3 unterscheidet sich von der nach Fig. 1 nur dadurch, daß auf der Rückseite der Wand 18 zwei Handhabungsgeräte 62, 64 statt des einen Handhabungsgeräts 26 gemäß Fig. 1 angeordnet sind. Damit lassen sich die Transportzeiten abkürzen. Beide Handhabungsgeräte 62 und 64 entsprechen in ihrem Aufbau und in ihrer Wirkungsweise dem Handhabungsgerät 26. Im Ausführungsbeispiel nach Fig. 3 sind sie durch ein gemeinsames, auf Schienen'66 längs der Rückseite der Wand.18 verfahrbares Gehäuse 68 miteinander verbunden. Die Wendeeinrichtung 60 ist bei der Ausführung nach Fig. 3 auf einem besonderen Gehäuse 70 gelagert.3 differs from that of FIG. 1 only in that on the back of the wall 18 two handling devices 62, 64 instead of the one handling device 26 ge are arranged according to Fig. 1. This can shorten the transport times. Both handling devices 62 and 64 correspond in their structure and mode of operation to handling device 26. In the exemplary embodiment according to FIG. 3, they are connected to one another by a common housing 68 which can be moved along rails 66 along the rear of wall 18. The turning device 60 is mounted on a special housing 70 in the embodiment according to FIG. 3.

Die Arbeitsteilung zwischen den beiden Handhabungsgeräten 62 und 64 ist so vorgenommen, daß das erstere die Werkstücke 12 gegebenenfalls von einem sie heranführenden Transportorgan aufnimmt, der ersten Arbeitsposition 10 zuführt, sie von dort zur Wendeeinrichtung 60 bringt und von dort weiter zur zweiten Arbeitsposition vor dem Wanddurchbruch 22 transportiert. Das andere Handhabungsgerät 64 nimmt die Werkstücke 12 an der zweiten Arbeitsposition vor dem Wanddurchbruch 22 auf, holt sie durch diesen hindurch auf die Rückseite der Wand 18 und Ivgt sie an einer oder mehreren bestimmten Stellen, gegebenenfalls auf einem weiterführenden Transportorgan, ab.The division of labor between the two handling devices 62 and 64 is carried out in such a way that the former receives the workpieces 12, if necessary, from a transport member which brings them to the first working position 10, brings them from there to the turning device 60 and from there to the second working position before the wall breakthrough 22 transported. The other handling device 64 picks up the workpieces 12 at the second working position in front of the wall opening 22, fetches them through this to the rear of the wall 18 and removes them from one or more specific locations, possibly on a further transport element.

Es versteht sich, daß die Erfindung nicht auf die gezeigten beispielhaften Formen und Antriebe der beschriebenen Teile beschränkt ist. Diese können vom Fachmann in der üblichen Weise nach Zweckmäßigkeitsgesichtspunkten im Einzelfall variiert werden.It is understood that the invention is not limited to the exemplary shapes and drives shown for the parts described. These can be varied by the person skilled in the art in the customary manner from the point of view of expediency in individual cases.

Claims (10)

1. Vertikal arbeitende Werkzeugmaschine mit einem oder mehreren an einer Wand geführten Werkzeugschlitten und Werkstücktransport zwischen wenigstens zwei Positionen auf der einen Seite der Wand mittels eines auf der anderen Seite der Wand gelagerten Handhabungsgeräts durch wenigstens zwei Wanddurchbrüche hindurch, dadurch gekenn- zeichnet, daß das Handhabungsgerät (26, 62) einen um eine Schwenkachse drehbaren zweiteiligen Knickarm (32) aufweist, dessen Knickbewegung durch Zwangsführung (50, 52, 54) von seiner Drehbewegung abgeleitet ist und dessen Knickgelenk (42) sich beim Verfahren von einer zur anderen Position auf dem größeren Bogen des Kreises seiner Bahn bewegt.1. Vertical machine tool with one or more tool slides guided on a wall and workpiece transport between at least two positions on one side of the wall by means of a handling device mounted on the other side of the wall through at least two wall openings, characterized in that the handling device (26, 62) has a two-part articulated arm (32) which can be rotated about a pivot axis, the articulated movement of which is derived from its rotary movement by positive guidance (50, 52, 54) and the articulated joint (42) of which moves from one position to the other on the larger one Arc of the circle of its orbit moves. 2. Werkzeugmaschine nach Anspruch 1, dadurch ge- kennzeichnet, daß der Knickarm (32) insgesamt oder sein äußerer Teil (40) axial bewegbar ist.2. Machine tool according to claim 1, characterized in that the articulated arm (32) as a whole or its outer part (40) is axially movable. 3. Werkzeugmaschine nach Anspruch 1 oder 2, dadurch gekennzeihnet, daß am äußeren Ende des Knickarms (32) ein um eine senkrecht zur Schwenkachse (34) liegende Achse drehbarer Werkstück-Greifer (24) gelagert ist.3. Machine tool according to claim 1 or 2, characterized in that at the outer end of the articulated arm (32) a workpiece gripper (24) rotatable about an axis perpendicular to the pivot axis (34) is mounted. 4. Werkzeugmaschine nach Anspruch 1 oder 2, dadurch gekennzeichnet , daß sich auf derjenigen Seite der Wand (18), auf welcher der Knickarm (32) gelagert ist, eine oder mehrere weitere auf der Bewegungsbahn von dessen Greifer (24) liegende Haltepositionen des Werkstücktransports befinden.4. Machine tool according to claim 1 or 2, characterized in that on that side of the wall (18) on which the articulated arm (32) is mounted, one or more further on the movement path of the gripper (24) lying holding positions of the workpiece transport are located. 5. Werkzeugmaschine nach Anspruch 4, dadurch ge- kennzeichnet, daß sich an einer der weiteren Positionen eine Einrichtung (60) zum Wenden der Werkstücke (12) befindet.5. Machine tool according to claim 4, characterized in that a device (60) for turning the workpieces (12) is located at one of the further positions. 6. Werkzeugmaschine nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet , daß sich die Seitenflächen der Wanddurcbrüche (20, 22) entsprechend den Stellungen des Knickarms (32) beim Hindurchreichen durch die Wand (18) im Winkel zueinander erstrecken.6. Machine tool according to one of the preceding claims, characterized in that the side surfaces of the wall openings (20, 22) corresponding to the positions of the articulated arm (32) when reaching through the wall (18) extend at an angle to each other. 7. Werkzeugmaschine nach einem der Ansprüche 1 bis 6, da- durch gekennzeichnet, daß das Handhabungsgerät (26, 62) längs der Wand (18) verfahrbar ist.7. Machine tool according to one of claims 1 to 6, characterized in that the handling device (26, 62) can be moved along the wall (18). 8. Werkzeugmaschinen nach einem der Ansprüche 1 bis 6, da- durch gekennzeichnet, daß auf der- s-lben Seite der Wand (18) zwei oder mehr Handhabungsgerate (62, 64) mit Knickarm (32) gelagert sind, und durch wenigstens einen Wanddurchbruch (22) zwei Knickarme (32) an dieselbe Arbeits- oder Lagerposition heranreichen.8. Machine tools according to one of claims 1 to 6, characterized in that two or more handling devices (62, 64) with an articulated arm (32) are mounted on the side of the wall (18), and by at least one Open the wall opening (22) two articulated arms (32) to the same working or storage position. 9. Werkzeugmaschinen nach einem der Ansprüche 1 bis 6, da- durch gekennzeichnet, daß auf derselben Schwenkachse (34) zwei Knickarme (32) gelagert sind.9. Machine tools according to one of claims 1 to 6, characterized in that two articulated arms (32) are mounted on the same swivel axis (34). 10. Werkzeugmaschine nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet , daß zur Ableitung der Knickbewegung von der Schwenkbewegung des Knickarms (32) eine Kette (54) oder ein Zahnriemen ein undrehbar auf der Schwenkachse (34) festgehaltenes und ein drehfest an dem im Knickgelenk (42) gelagerten äußeren Teil (40) des Knickarms (32) angeordnetes Zahnrad (50, 52) verbindet. 1 0. Machine tool according to one of the preceding claims, characterized in that for deriving the kinking movement from the swiveling movement of the articulated arm (32) a chain (54) or a toothed belt is held in a non-rotatable manner on the swiveling axis (34) and is rotatably fixed to the one in the articulated joint (42) mounted outer part (40) of the articulated arm (32) arranged gear (50, 52) connects.
EP85113227A 1984-11-08 1985-10-18 Vertically operating machine tool with a manipulator Expired - Lifetime EP0180829B1 (en)

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DE19843440762 DE3440762A1 (en) 1984-11-08 1984-11-08 VERTICAL WORKING MACHINE WITH HANDLING DEVICE

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EP0236109A1 (en) * 1986-03-03 1987-09-09 Kabushiki Kaisha Toshiba Multi-jointed robot
US4797061A (en) * 1986-03-03 1989-01-10 Kabushiki Kaisha Toshiba Multi-jointed robot
EP0255612A1 (en) * 1986-08-06 1988-02-10 Fibro GmbH Gantry-type manipulator
DE3837688A1 (en) * 1988-11-05 1990-05-10 Leybold Ag DEVICE FOR MACHINING WORKPIECES, PREFERABLY OF DISC-SHAPED, FLAT SUBSTRATES
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DE102006003985A1 (en) * 2006-01-20 2007-07-26 Index-Werke Gmbh & Co. Kg Hahn & Tessky Machine tool, for a workpiece on a spindle, has a passage opening in a wall for the manipulator to place and remove the workpiece at the spindle
WO2009100751A1 (en) 2008-02-14 2009-08-20 Ex-Cell-O Gmbh Feeding and removal system for machine tools
US8307972B2 (en) 2008-02-14 2012-11-13 Mag Ias Gmbh Feed and removal system for machine tools
WO2012027770A3 (en) * 2010-09-02 2012-04-26 Trumpf Maschinen Austria Gmbh & Co.Kg. Tool magazine for a manipulator
US10189128B2 (en) 2010-09-02 2019-01-29 Trumpf Maschinen Austria Gmbh & Co. Kg. Tool magazine for a manipulator
WO2012168489A1 (en) * 2011-06-09 2012-12-13 Mauser-Werke Oberndorf Maschinenbau Gmbh Machine tool and method for a machine tool
AT518112A1 (en) * 2015-12-18 2017-07-15 Trumpf Maschinen Austria Gmbh & Co Kg Production plant with a tool manipulation unit
AT518112B1 (en) * 2015-12-18 2017-10-15 Trumpf Maschinen Austria Gmbh & Co Kg Production plant with a tool manipulation unit
AT518112B9 (en) * 2015-12-18 2017-12-15 Trumpf Maschinen Austria Gmbh & Co Kg Production plant with a tool manipulation unit
WO2023117324A1 (en) * 2021-12-20 2023-06-29 Festo Se & Co. Kg Handling system

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DE3440762C2 (en) 1990-08-09
EP0180829B1 (en) 1991-07-24
DE3583579D1 (en) 1991-08-29
EP0180829A3 (en) 1988-05-04
DE3440762A1 (en) 1986-05-07

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